The importance of human-machine interface is widely acknowledged in accordance with the increase of the computer powers. In human to human communication, we communicate with each other by using not only verbal media but also non-verbal media. Especially information transmitted through the five senses is able to affect our emotions and feelings directly making for smooth communication. This paper introduces the development of a new haptic device driven by hand gestures. Since the device is molded with silicon-rubber with the softness of human skin, a user is able to make hand gestures with his 'sense of force' by the transforming manipulations. The device is able not only to sense user's twiddling gestures but also to display reactions against the hand gestures by vibration patterns. As an experimental trial of a tele-communication system, the device was employed for terminal devices, and questionnaires were conducted to evaluate the device in the haptic communication.